WO1995001757A1 - Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants - Google Patents
Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants Download PDFInfo
- Publication number
- WO1995001757A1 WO1995001757A1 PCT/NL1994/000156 NL9400156W WO9501757A1 WO 1995001757 A1 WO1995001757 A1 WO 1995001757A1 NL 9400156 W NL9400156 W NL 9400156W WO 9501757 A1 WO9501757 A1 WO 9501757A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- moving target
- locations
- robotic
- target area
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00699—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement caused by respiration, e.g. by triggering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B2017/0237—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for heart surgery
- A61B2017/0243—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for heart surgery for immobilizing local areas of the heart, e.g. while it beats
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/502—Headgear, e.g. helmet, spectacles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0085—Motion estimation from stereoscopic image signals
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0092—Image segmentation from stereoscopic image signals
Definitions
- This invention relates to a robotic system for observing and remote treatment of moving parts.
- the invention relates to a minimally invasive robotic surgical system that integrates automated target tracking of a moving body part by robotic surgical tools with stereoscopic video-image guided control of these tools by the surgeon.
- Closed chest coronary artery bypass graft surgery is presented as an example in which such a system is utilized to attach the distal end of a bypass graft to a coronary artery without the need to arrest the heart.
- CABG coronary artery bypass graft
- the current CABG operation consists of the following sequence of steps: opening the chest by median sternotomy and spreading left and right rib cage; mobilization from chest wall of the left (and right) internal mammary artery (arterial grafts) and removal of greater saphenous vein from the leg (venous grafts); opening peri- card; arterial and venous cannulation for cardiopulmonary bypass (CPB); start extracorporeal circulation by the heart-lung machine which oxygenates the blood and produces the perfusion pressure for the body; cooling body to 32°C; aortic cross clamping and cold (4 degrees) cardioplegic perfusion of the coronary arteries via the aortic root to arrest and cool the heart; attachment of on average one arterial and three venous distal anastomoses (the distal bypass graft end is connected to the coronary artery beyond the obstruc ⁇ tion; the proximal bypass graft end is attached to the root of the aorta, unless the graft is the internal mammary
- Cardiopulmonary bypass (CPB) for cardiac surgery is concept- ually simple, and equipment is now available to accomplish it with ease.
- a device oxygenator
- the newly arterialized blood is pumped from the oxygenator into the patient's aorta at adequate blood pressure for further distribution to the body.
- the extracorporeal circuit includes, in addition to the oxygenator and several pumps, a reservoir, a temperature exchange system to lower or increase the temperature of the blood, several filters and pressure, flow and temperature sensors.
- Details of this generalized response to extra-corporeal cir ⁇ culation include: neutrophil activation; platelet activation with a 40% drop in circulating platelets; depression of platelet function with sometimes strong bleeding tendency; complement activation; kallikein activation and bradykinin release; activation of the fibrinolytic cascade which may contribute to postoperative bleed ⁇ ing; enhanced production of interleukin-1 and Tissue Necrosis Fac ⁇ tor.
- CPB CPB-derived neuropeptide kinase
- loss of red blood cells due to shear stress damage in the heart-lung machine
- defective coagulation postoperatively because protamine only partly restores the coagulation cascade which was inhibited by heparin prior to CPB
- anaphylactic shock due to complement activation by protamine.
- the metabolic response to the stress of CPB is reflected in the large rise of plasma catecholamines during CPB.
- the aorta Prior to putting the patient on full CPB in order to start cold cardioplegic cardiac arrest, the aorta is clamped proximal to the insertion site of the arterial CPB cannula.
- the application of the aortic cross-clamp carries more than the usual hazard in patients undergoing CABG, because of the frequent presence of arteriosclerosis in the ascending aorta in these patients and the tendency of the cross-clamping to produce arterio- sclerotic emboli to the brain (about 0.5% embolic complications).
- the distal anastomosis is made after immobilization of the target artery with traction sutures.
- the coronary artery has to be clamped to do the arterioto y and suture the anastomosis.
- this approach is limited to a subset of patients which are selected on the presence of occluded or almost occluded, well collateralized and easily accessible left anterior descending and right coronary arteries. This rare approach followed by the authors mentioned above is controversial because of poor results by some groups which is attributed to the trauma of immobilizing and clamp ⁇ ing the coronary artery.
- a primary object of the present invention is to provide a system for close inspection in real time of moving parts, e.g., moving elements of a machine.
- a further object of the present invention is to provide a medical system for close inspection in real time of a moving object within a chest cavity without the need to open the chest.
- a further cbject of the present invention is to provide a system for precise manipulation of the moving object within the chest cavity, e.g. robotic precise surgery on the moving object, without the need to open the chest.
- a further object of the present invention is to pro ⁇ vide a medical system for closed chest robotic coronary artery bypass grafting on a beating heart.
- an inspection system comprising:
- - display means connected to the image processor to receive and display the arrested image of the moving target area.
- the main advantage of such a system is that it provides means to inspect accurately a moving part, e.g., " of a machine without the need to stop the movement of that part.
- - display means connected to the image processor to receive and display the arrested image of the moving target area.
- a tracking control unit connected to the image processor and to the robot arm in order to supply the robot arm with control signals determined by output signals of the image processor;
- control robotic instrument to be manually operated and connected to the robotic computer system to supply the robotic computer system with control signals.
- the set of distances being used to translate and rotate the loca ⁇ tions of the beacons in the subsequent video images in order to match them with the reference locations and to obtain a substan- tially arrested image of the moving target area is converted by the image processor into control signals for the robot arm in such a way that, when no human operator operates the control robotic instrument, the manipulation instrument connected to the robot arm substantially tracks the moving target area, i.e. the position of the manipulation instrument relative to the moving target area remains substantially the same.
- the present invention provides a medical system comprising: - at least a first and a second endoscopic video camera mounted on a first and a second mount, respectively, to be posi ⁇ tioned in a chest cavity in such a way that they both observe a predetermined moving target area within the chest cavity;
- an image processor receiving output signals from both first and second video cameras, the output signals containing video images of the moving target, the image processor being programmed to
- the beacons may be anatomic locations within the moving tar ⁇ get area. However, also artificial beacons may be installed on the moving target area.
- the medical sys ⁇ tem defined above further comprises a main camera mounted on an adjustable ball bearing to be inserted into the chest between neighbouring ribs and to supply video image information of any area within the chest to at least one video monitor.
- the image processor may be connected to a voice activator receiving voice signals from a microphone, the voice activator, during operation, generating zooming-in or zooming-out commands for zooming-in or zooming-out the video image of the first and second cameras.
- the set of distances being used to translate and rotate the locations of the beacons in the subsequent video images in order to match them with the reference locations and to obtain a substantially arrested image of the mov ⁇ ing target area is converted by the image processor into control signals for the robot arm in such a way that, when no human oper- ator operates the control robotic instrument, the surgical in ⁇ strument connected to the robot arm substantially tracks the moving target area, i.e. the position of the surgical instrument relative to the moving target area remains substantially the same.
- the medical system also comprises ultrasound means to locate and evaluate a coronary artery on a beating heart, and at least two electromotor driven, rotating ultrasound trans ⁇ ducers (20-60 MHz), the ultrasound means being provided with suc ⁇ tion means to fix the ultrasound means to the beating heart.
- the ultrasound means may have a hole to receive a robotic stapler/suturing device with one end of a bypass graft.
- the robotic stapler/suturing device may comprise an adjust ⁇ able expansion ring and a thick walled cylinder provided with an aperture to receive the bypass graft to bypass an obstructed part of the coronary artery, wherein an end part of the bypass graft is to be expanded in diameter by the expansion ring and folded back around the thick walled cylinder by the expansion ring, and wherein the thick walled cylinder, during operation, accommodates bonding means to bond the end part of the bypass graft to the coronary artery (distal anastomosis) or to an aorta (proximal anastomosis).
- such a medical system comprises hole making means to be inserted in the bypass graft through a temporary side branch after the bypass graft is bonded to the coronary artery.
- the medical .system may comprise other hole making means to make a hole in an aortic wall, the other hole making means comprising a first circular rotary cutter driven by a flexible cable and a contra cutter with an exceedingly sharp screw front, the contra cutter being housed within the first circular cutter, being driven by another flexible cable housed within the first flexible cable, and to be screwed into and through the aortic wall to catch a circular piece of aortic wall cut out by the first cir- cular cutter.
- the invention discloses an entirely novel method of performing coronary artery bypass graft
- CABG cardiopulmonary bypass
- CPB cardiac arrest and opening and spreading the ribcage. All procedures are performed with standard thoracoscopic techniques, but for clearing of the distal anastomosis sites if necessary and positioning an ultrasound guided anastomosis device (USGAD) con ⁇ taining a robotic stapler/suturing device and effecting the anasto- mosis bonding.
- USGAD ultrasound guided anastomosis device
- the method employs robotic tracking of cardiac surface motion to enable attaching the graft (donor vessel) onto the moving reci ⁇ pient coronary artery distal to its obstruction.
- the end-to-side anastomoses are made with a robotic, ultrasound guided sutur ⁇ ing/stapling device using an approach first described (and applied) on static arteries by Tulleken using current manual suturing tech ⁇ niques in:
- Verdaasdonk RM Use of excimer laser in high flow bypass surgery of the brain (abstr). Lasertechnisch 1992;8:138;
- the Tulleken approach obviates the need to interrupt the blood flow in the recipient artery. By sizing all instrumentation to the intercostal rib space, the procedure can be performed thoracoscopically.
- the present surgical approach is modified from the novel end-to-side anastomosis technique described by Tulleken et al. and relates to end-to-side anastomoses but is, in principle, applicable to side-to-side anastomoses (jump grafts) as well.
- Figure 1 is a block diagram of the presently preferred em- bodiment of endoscopic stereoscopic (3-D) video imaging of a surgi ⁇ cal target, together with the possibility to view an entire oper- ation field on a video monitor or to view an operating room.
- Figure 2A schematically depicts a beating heart and immobile other structures in a chest cavity.
- Figure 2B schematically depicts effects of virtual target image arrest with in the image a virtually arrested heart and 'beating' structures in a 'beating' chest cavity.
- Figure 3 schematically depicts the surgical target area on the beating heart with traction sutures to reduce coronary " artery motions and motions of beacons in the vicinity of the surgical target area.
- Figure 4 is a block diagram showing arbitrary positions of beacons in a reference video image and in subsequent images; by matching the position of the beacons in the latter images to the beacons in the reference image, virtual target image arrest is obtained.
- Figure 5 is a block diagram of virtual target image arrest combining figs. 1, 3 and 4, illustrating EKG triggering for the reference image.
- Figure 6 is a schematic diagram of operator controlled (scaled) motions of surgical instruments which are superimposed on automated target tracking movements of robotic arms with surgical instruments.
- Figure 7 illustrates attachment of an expandable ring to an end of a bypass graft.
- Figure 8 is a schematic diagram of a robotic stapler/suturing device around the end of the graft.
- Figure 9 is a schematic cross-section of the end of the robotic stapler/suturing device and the everted end of a graft.
- Figure 10B provides a longitudinal section of the ultrasound guidance device of Figure 10A.
- Figure 10C provides a cross-section of the ultrasound guid ⁇ ance device at the level indicated by arrow C in figure 10B.
- Figure 10D provides a cross-section of the ultrasound guid ⁇ ance device at the level indicated by arrow D in figure 10B.
- Figure 10E provides a cross-section of the ultrasound guid ⁇ ance device at the level indicated by arrow E in figure 10B.
- FIG 11 is a schematic longitudinal section of the ultra ⁇ sound guided anastomosis device (USGAD) with the bypass graft (with temporary side branch), its end folded back over the robotic sta ⁇ pler/suturing device which fits into the ultrasound guidance device.
- USGAD ultra ⁇ sound guided anastomosis device
- Figure 12A is a magnification of the robotic stapler end from fig. 11 after ejection of staples.
- Figure 12B gives a schematic top view of circumferential staple bonding.
- Figure 12C illustrates a preformed staple which has penetrated the graft wall at both ends and which remains within the wall of a recipient artery.
- Figure 12D illustrates a preformed staple which has penetrated the graft wall at one end and folds back on itself.
- Figure 13 shows a schematic drawing of a circular cutter introduced through the temporary side branch of the bypass graft to establish continuity between graft lumen and recipient coronary artery lumen by punching a hole in the coronary artery wall.
- Figure 1 shows, similar to Figure 13, a schematic drawing of a circular (or ellipsoid) spark erosion electrode to ablate a ring of coronary artery wall tissue to punch a hole.
- Figure 15 shows a schematic drawing of a cutter and contra- cutter with sharp screw-end of an aortic wall punch.
- Endoscopic stereoscopic (3-D) video imaging viewed through operating spectacles is shown in Figure 1.
- the preferred thoraco- scopic surgical technique uses two intrathoracic CCD cameras 1 , 2.
- stereoscopic video imaging is implemented to the separate eyes in operating spectacles 111.
- the two directional endoscopic CCD cameras 1, 2 are posi- tioned on ball bearings 3, 4 at the end of mounts 5, 6, respective ⁇ ly.
- the mounts 5, 6 are inserted through the chest between two neighbouring ribs, one of which 110 is shown in Figure 1.
- the mounts 5, 6 are mounted on a cross bar 7 at variable distance and right angles.
- the bearings 3, 4 are externally controlled like eyes.
- ball bearing 3 is adjusted by the surgeon to direct CCD camera 1 to get the target segment 22 of the coronary artery 23 in the middle of its video image.
- ball bearing 4 is adjusted to direct CCD camera 2 to get the target segment 22 of the coronary artery 23 in the middle of its video image.
- the angles ⁇ , ⁇ are defined by the normal to the cross bar 7 and the normals to the input planes of CCD cameras 1 , 2, respectively.
- the angle ⁇ is defined by the plane through mounts 5, 6 and the plane through the normals to the input planes of CCD cameras 1, 2.
- the angles ⁇ , ⁇ , ⁇ are monitored and fed to a digital image processor 8.
- the adjust ⁇ able distance between the CCD camera mounts 5, 6 on the cross bar 7 is monitored and fed to the digital image processor 8. From angles ⁇ , ⁇ , ⁇ and the distance between CCD cameras 1 and 2 (mounts 5, 6), the distance calibration in the stereoscopic video image is com ⁇ puted by image processor 8.
- This embodiment will optimize stereo ⁇ scopic vision of the target over a sufficient space angle and com- ply with anatomical constraints on making access holes in the chest wall in between ribs. Illumination of an object within the chest is provided separately in standard thoracoscopic fashion by means of light sources 9 and 10.
- Two synchronized video systems 11 simultaneously produce the image of the first CCD camera 1 and the image of the second CCD camera 2. Both images are fed to the digital image processor 8 which creates simultaneously the digital output to "operating spec ⁇ tacles” 111 ( Figure 1). In these "spectacles” a usual optical lens system (magnification about 3x) has been replaced by a "left” and a “right” video image, respectively.
- Video image display is by color liquid crystal display and optical means or by other means which provide adequate resolution of a color image in about 2-4 cm 2 .
- a primary surgeon 101 has a microphone 12 which allows voice activation of the digital zoom capability of the images from the CCD cameras 1 , 2 by a voice control unit 13 through the image pro ⁇ cessor 8.
- the digital zoom of the images from the CCD cameras 1, 2 does not need to be centred at the centre of the image.
- voice activation the centre of the zoom field is called to be displayed as cursor in the center of the image and, next, is moved by voice command to a point whose coordinates are read at the edges of the video image.
- Zooming-in will scale the original coordinates. These coordinates are derived from the angles ⁇ , ⁇ and ⁇ involved in the CCD camera 1 , 2 positions as well as from the distance between CCD cameras 1 and 2.
- the zooming may be provided by other means than by voice activation, e.g. by a foot switch.
- the endoscopic operating procedure can be closely followed by all in 3-D.
- the left and right (zoom) images may be recorded on two syn ⁇ chronized video recorders 14, 15 coupled to the image processor 8, which are also preferably activated by voice command through voice control unit 13. These recorders 14, 15 may monitor an audio chan ⁇ nel as well.
- the entire surgical area of interest is moni ⁇ tored by a standard thoracoscope 107 which has a CCD camera 19 mounted on a ball bearing 18 to allow vision in all directions.
- General illumination of the object region is provided by a main light source 108, which supplies light in the standard thoraco- scopic fashion.
- the output of CCD camera 19 is fed to the video system 17, which has e.g. 4 monitors connected: a first monitor 16 at the head of the operating table (not shown), a second monitor 16a at the right side of the operating table, a third monitor 16b at the left side of the operating table, and a fourth monitor 16c for the cardio-anaesthesiologist.
- all members 101-104 of the surgical team have both an overview of the entire surgical field within the thorax and a magnified stereoscopic view of the grafting area.
- the major advantage of incorporating the left and right video images in operating spectacles 111 is that a cardiac surgeon is used to perform CABG surgery with operating spectacles which mag ⁇ nify the target region about 3 times, but which leave peripheral vision undisturbed.
- the surgeon can concentrate on the target, use zooming in if neces ⁇ sary, and at the same time, keep visual contact with a monitor 16 displaying, for instance, the general view of the heart and chest cavity, with the monitors displaying the EKG and haemodynamic para ⁇ meters of the patient, with his hands and the instruments outside the body, and with the other people in the operating room.
- FIG. 2A The surface of e.g. a beating heart 20 (Fig. 2A) shows (regular) motion with respect to the chest cavity 21 and other objects which are stationary with respect to the oper- ating table (not shown).
- the potential site of the distal anastomosis of the bypass graft, the target area 22 moves with respect to the chest wall, the thoracoscope 107, CCD cameras 1, 2 and thoracoscopic instruments.
- several traction sutures 25 are placed around the target area 22, which is distal to a (partially) obstructed part of a coronary artery 23.
- beacons 24 are ident- ified.
- the beacons 24 may be clearly identifiable anatomic struc ⁇ tures or clips placed on the surface of the heart 20 or e.g. tiny LED's which are temporarily attached to the surface of the heart 20.
- the patient is under beta-blockade to reduce heart rate and reduce the electrical irritability of the cardiac muscle to mechan ⁇ ical stimulation. If in spite of the anaesthesia, the heart rate or rhythm fluctuates considerably, a temporary right heart pacing electrode may be attached to the right auricle to pace the heart slightly above its own highest rate.
- one video image (left and right) is frozen, preferably, by voice command.
- End-diastolic freezing of the video image is accomplished by triggering on the QRS complex of the elec- trocardiogram (EKG) with an appropriate delay.
- Beacons 24 are defined interactively (mouse or joy stick controlled cursor in video image) on the surface of the heart near the edge of the tar ⁇ get area (Fig. 3). Their 3-D coordinates are computed relative to the coordinate system of the two video cameras 1 , 2. This coordinate system is defined by the plane through cross bar 7 and the mounts 5, 6, with the origin in the middle of cross bar 7. In each following stereoscopic image the beacons are recognized by fast computer image analysis algorithm (Fig. 4).
- Figure 4 shows the procedure how the image processor 8 pro- Steps the stereoscopic video images received from CCD cameras 1 , 2.
- an image is chosen as reference image 115 with beacons 24, as explained below.
- image 116 the beacons 24' are displaced relative to the positions of the beacons 24 shown in video image 115. Since the actual displacement of the heart is three dimensional, the displacements of the beacons 24' in video image 116 relative to their original positions in video image 115 are also three dimensional.
- Video image 117 in Figure 4 shows a coinciding stereoscopic image of video images 115, 116.
- the arrows P denote the 3D dis ⁇ placements of beacons 24' in video image 116 to the original bea ⁇ cons 24 in video image 115 .
- Video image 118 shows beacons 24' matching beacons 24 when beacons 24' are virtually shifted back along arrows P (and rotated) to their original positions in video image 115. Why beacons 24' are virtually shifted back to their original positions will be explained below.
- FIG. 5 shows a flow chart of virtual target arrest by image processing by image processor 8.
- step 120 video images of the moving surgical target 22 on the beating heart 20 are received by video processor 8.
- step 121 an end-diastolic image, for instance video image 115 ( Figure 4), is frozen using EKG triggering 122 input to the image processor 8 (not shown).
- step 124 in each subsequent video image, e.g. image 116 ( Figure 4), the positions of the beacons 24' are recog- nized and determined.
- the 3-D distance between each of the beacons 24 in video image 115 and the corresponding beacons 24' in video image 116 are computed in step 125.
- step 126 the video image 116 is translated and rotated in such a way by appro- priate computations that video images 115 and 116 match each other, as shown in video image 118 in Figure .
- This process is repeated with each subsequent video image resulting in virtual image arrest (cardiac target arrest) in step 127.
- virtual image arrest cardiac target arrest
- non-cardiac structures will appear to be beating ( Figure 2B), when the target arrested video image 127 is transmitted 128 to the spectacles 111 of the surgeon 101 ( Figure 1).
- An absolute condition for virtual target arrest is that the target area and the nearby beacons never disappear from the orig- inal video image during the cardiac cycle and the respiratory cycle.
- Figure 6 shows how the system shown in Figures 1-5 may be used during an operation of a body part within the chest, for instance, a coronary artery 23.
- the Figure shows the two mounts 5, 6 for the CCD cameras 1 and 2, respectively, which transmit their video signals to the image processor 8.
- image processor 8 generates a video image of the virtually arrested object of interest, e.g. the target segment 22 of coronary artery 23.
- the arrested video image is outputted to the spectacles 111 of at least the surgeon 101.
- the computa ⁇ tional algorithm to obtain the arrested target image is employed in real time to translate and rotate robot arms 32, 33 with robotic surgical instruments 34, 35, the robot arms 32, 33 being inserted between two neighbouring ribs like 110 in the same way as the two mounts 5, 6 of CCD cameras 1, 2.
- the robot ...rms 32, 33 with their robotical surgical instruments 34, 35 receive tracking signals from tracking control 31 in order to translate and rotate them with respect to the coordinate system in precisely the opposite way as does the video image 116 ( Figure 4) to match video image 115.
- the robotic tracking arms 32, 33 with their robotic surgi ⁇ cal instruments 34, 35 track the target 22 in real time.
- the patient is laid on his back or on one of his sides and one lung is collapsed in order to create suitable operating space for CCD cameras 1, 2, 19, the robot arms 32, 33 and the instruments 34, 35.
- the surgeon 101 manually handles control robotic instruments 36a, 36b (with left hand and right hand, respectively) (e.g. tweez ⁇ ers) which control a robotic computer system 37, which in turn steers by means of independent controls 38, 38' the output surgical instruments 34, 35 (robotic telesurgery) which are mounted on the tracking robot arms 32, 33. Any movement of the surgeon 101 with the control robotic instruments 36a, 36b is translated - with or without voice command controlled scaling down of movements - to the robotic surgical instruments 34, 35.
- the combined motion of robotic surgical instrument 34 resulting from the control signals generated by tracking control 31 and the control robotic instrument 36a results in operation on the moving target 22 by robotic surgical instrument 34.
- the surgeon 101 experiences the procedure in his operat ⁇ ing spectacles 111 as operating on the arrested target, whereas one look over the rim of the operating spectacles 111 at the video monitor 16 will tell him that he is working on the moving target 22.
- FIG. 7-12 a circular or ellipsoid robotic stapler/suturing device (ultrasound guided anastomosis device USGAD) will be described, referring to Figures 7-12.
- An expandable ring 41 (like key ring) is attached to the end of a bypass graft 40 by a running suture 42, and expanded ( Figure 7).
- the end of the graft 40 now looks like a trumpet.
- the opening of this "trumpet" may be circular, however, also an ellipsoid form is possible and even preferred.
- the graft 40 is then inserted into a hollow robotic stapler/suturing device 44 with staple/suturing control cable 131 by squeezing the vessel gently in between an opening slit 45 in the stapler/suturing device 44 ( Figure 8).
- the expanded ring 41 is now retracted over the stapler device 44 while the latter is gently advanced until the ring 41 passes a ridge 47.
- the end 39 of graft 40 is fixed to the stapler/suturing device 44 and the tension of the suture closes slit 45.
- the slit is designed to be opened after establishing the anastomosis bonding as exit for the bypass graft.
- the running suture 42 around ring 41 is removed and the ring is withdrawn.
- the everted graft wall 46 now fits the outside of the sta ⁇ pler/suturing device 44, as illustrated in Figure 9 which shows a cross section of the stapler device 44 and the everted graft 46.
- Staples 48 are present in the end part of the hollow cylindrical stapler device 44 to be ejected from its end part, as will be explained below.
- the robotic stapler/suturing device may also and preferably end in a bevelled, ellipsoid configuration (not shown) to allow creating an anastomosis corresponding more to current CABG practice, which avoids kinking of the graft and which maximizes the area of the anastomosis opening.
- a high frequency (20-60 MHz) ultrasound analysis of the sur ⁇ face of the heart at the designated target area 22 to find the optimal anastomosis site on the coronary artery to be operated is performed as follows ( Figure 10 A-E and Figure 11).
- High frequency (30 MHz) ultrasound analysis of the surface of the heart and the underlying coronary artery is performed with methods similar to intravascular ultrasound imaging described in e.g. Borst C, Savalle LH, Smits PC, Post MJ, Gussenhoven WJ, Bom N., "Imaging of post ⁇ mortem coronary arteries by 30 MHz intravascular ultrasound", Int J Cardiac Imag 1991;6:239-46.
- An ultrasound diagnostic device 150 is made of light weight materials. It consists of a rectangular block less than about 25 x
- an opening 152 can accommodate the stapler/suturing device as will be explained below
- FIG. 10 A, B and E There are various sizes holes in different ultrasound devices to accommodate grafts on different diameter coronary arteries.
- suction openings 153 connected through suction channel 154 to the lumen 155 of tube 151 allows temporary attachment by subatmospheric pressure of the ultrasound device 150 to the moving surface of the heart, on top of coronary artery 23 underneath.
- the ultrasound device ( Figure 10) contains proximally one ultrasound unit consisting of an electromotor 156 (diameter less than 3-4 mm, length less than about 8 mm) which is powered by the electrical cable 157.
- the electromotor 156 runs at about 4000 RPM, but through 4:1 gears 158, the speed is brought down to 1000 RPM.
- a plane circular 30 MHz (20-60 MHz) ultrasound trans ⁇ ducer 159 (diameter 1 mm) is rotated at 1000 RPM, the rotation speed of commercially available intravascular ultrasound devices.
- the ultrasound transducer is excited by high frequency pulses con- ducted by electrical cable 160 through sliding contacts 161.
- the ultrasound system 162 is basically the same as the commercially available intravascular ultrasound system employed in Borst et al (1991) mentioned earlier.
- An electromotor driven rotary ultrasound element has been described by N. Bom and C.T. Lancee in a European Patent Application 423,895 with a miniature motor (1 mm diameter, 3 mm long) to be incorporated in a coronary catheter.
- the ultrasound device ( Figure 10) ' contains a second ultra ⁇ sound unit distally at the end which consists identically of an electromotor 166, electric supply cable 167, 4:1 gears 168, an ultrasound transducer 169, ultrasound cable 170, and sliding con ⁇ tacts 171.
- the 4:1 gears 158 also allow positioning the ultrasound transducer 159, 169 closer to the ultrasound transparent TPX window 163 ( Figure 10B).
- the ultrasound transducer 169, 179 plane makes an angle of 15° with respect to the rotation shaft to avoid too large a reflection from the TPX window 163 through which the ultrasound beam is transmitted to the superficial layers of the heart 20 (Fig- ure 10 D) .
- the chamber 172 is filled with distilled water.
- the ultrasound device 150 is introduced in the chest cavity through an appropriate opening between two neighbouring ribs and handed over to a suitable surgical instrument 34 or 35 on one robotic tracking arm 32 or 33.
- the tracking control 37 is switched on and the ultrasound device 150 is lowered onto the prospective anastomosis site (the site has been determined previously on the basis of the coronary angiogram) .
- the eight suction channels 153 are activated to help securing perfect tracking of the target area 23 by the ultrasound device 150 ( Figure 10C).
- the proximal 159 and distal 169 ultrasound transducers will display cross sections of the recipient coronary artery 23 and its surroundings on both sides of the target anastomosis site 22. Both ultrasound transducers are connected to the ultrasound generating and analysing system 162.
- the ultrasound pulse frequency of 1000 Hz drives the transducers 159 and 169 each at 500 Hz by sending (and receiving), for example, the odd pulses to transducer 159 and the even pulses to transducer 169.
- the corre- spending ultrasound cross-sections 181, 182, respectively, are displayed on videomonitor 180.
- the ultrasound device 150 If the ultrasound device 150 appears to be improperly positioned (not on top of the artery or if the place 22 shows too much plaque in the recipient artery), its posi ⁇ tion is altered by stopping the suction and repositioning.
- the ultrasound device 150 allows optimizing the distal anastomosis site, because the ultrasound cross-sections will reveal the actual plaque load 29 of the artery 23 ( Figure 10D).
- the ultrasound device 150 is attached to the surface of the heart over the coronary artery 23, it is left attached to the surface of the heart by means of the eight suction channels 153.
- the stapler/suturing device 44 having graft 40 retracted around its end part, as shown in Figure 9, is introduced into the chest cavity, again through an appropriate opening between two neighbour ⁇ ing ribs, handed to a surgical instrument 34 or 35 attached to a robotic tracking arm 32 or 33, lowered to the ultrasound device and positioned in the centre hole 152 of the ultrasound device.
- the ultrasound diagnostic device 150 ( Figure 10) and the robotic sta- pier/suturing device 44 (Figures 8 and 9) combined form the ultra ⁇ sound guided anastomosis device, USGAD 190 ( Figure 11).
- the ultra ⁇ sound cross-section of the artery 23 allows determination of the thickness 29 of the arterial wall of the artery 23 ( Figure 10 D).
- the proper stapler/suturing device 44 has been chosen as to its diameter and its stapling depth. Note that the device 44 has been attached to the end of the graft outside the chest. This is also possible with the internal mammary artery (arterial bypass graft) after mobilization, because this artery is long enough to bring the distal end outside the chest. Besides, staples 48 have been inserted into the end part of the stapler device 44 outside the chest. After inserting the staples 48, staple ejecting means 130 to be operated by press gas through the hollow stapler device 44 are laid upon the staples 48, controlled from outside the chest by stapler/suturing control cable 131.
- the stapler/suturing device 44 is advanced until the ridge 47 is blocked by the ultrasound device 150.
- the staples 48 are ejected sequentially at end-diastole (EKG triggered) one at the time by supplying press gas through a supply hose 131. Ejecting one staple simultaneously prepares for ejecting the adjacent staple.
- the pressing gas . is designated by arrow Q in Figure 11.
- the staples 48 should eject sufficiently fast in order that the coronary artery wall 23 does not move.
- Figure 12A shows the end result (the staples 48 are drawn schematically). In Figure 12B the staples 48 are viewed from above.
- staples 48 are posi- tioned according to fig. 12B.
- the staple 48 is about 100 micron thick and has a pre-bent form which causes it to behave like a paper staple (Figure 12C).
- staple 48 may have a pre- bent form which causes it to turn back on itself, as shown in Fig ⁇ ure 12D.
- the staple 48 should pass through a good deal of recipient wall, i.e. the wall of artery 23, but preferably not enter the recipient lumen.
- the material for staples 48 may be titanium as is being used for stents.
- the staples 48 are non ferromagnetic. Instead of staples, other bonding means known by persons skilled in the art may be used.
- the stapler/suturing device 44 is lifted from the ultra ⁇ sound device, suture 42 is cut and slit 45 is widened sufficiently to exit graft 44 through slit 45. Finally, suction on openings 153 is released and both the stapling/suturing device and the ultra- sound device are brought outside the chest.
- the ultrasound guidance provided by the USGAD 190 will help to avoid highly calcified anastomosis sites, because calcific deposits might hamper the staple's course.
- a circular cutter 73 (Fig. 13) or electrical spark erosion (Fig. 14) may be employed because these methods are cheeper.
- the latter can be made in a bevelled ellipsoid configur- ation (not shown) if the graft and recipient artery meet under an angle much less than 90°.
- the circular cutter 73 shown in Figure 13 is fabricated like a Simpson atherectomy cutter, as known from: US patent 4,781,186 by Simpson JB et al. and from e.g. Johnson DE, Hinohara T, Selmon MR, Braden LJ, Simpson JB. Primary peripheral arterial stenoses and restenoses excised by transluminal atherectomy: a histopathologic study.
- the circular knife 73 in various diameters (1.5-3.5 mm) is driven by a straight shaft 72 which is connected to a flexible cable 70, preferably, made from strands of wire which are for 50% counter wound to have maximum flexibility.
- this cable 70 is connected to a small battery powered, hand held motor (not shown) which is switched on/off with a simple switch.
- the cutter housing 71 is advanced through a thin walled, flexible, atraumatic catheter 67 which has a carefully polished, rounded end.
- the thin walled catheter 67 has been advanced first to minimize injury to the graft vessel wall by the much stiffer circu ⁇ lar cutter.
- spark erosion a circular ring or ellipsoid monopolar electrode 80 isolated laterally by an isolator 81 and connected to a catheter lead 82, which is connected to spark erosion ablation means 83, is applied.
- the spark erosion method may be accomplished according to the method originally described by Slager CJ, Essed CE, Schuurbiers JHC et al., in "Vaporization of atherosclerotic plaques by spark erosion", J Am Coll Cardiol 1985;5:1382-6, and by Slager CJ, Bom N, Serruys PW, Schuurbiers JCH, Vandenbroucke WVA, Lancee CT, in "Spark erosion and its combination with sensing devices for ablation of vascular lesions".
- a catheter aortic punch has a sharp screw 84 on top of a retraction circular knife 85 which enables screwing the screw 84 through the aortic wall 135.
- a disk of for example 3.5 mm is punched out of the aortic wall 135 and retrieved.
- the thin walled flexible catheter 67 is inserted first, through the temporary side branch 132 ( Figure 11) of the graft 40 to protect the graft wall from mechanical trauma by the stiff cutting device (see also Figure 13).
- the robotic surgical system described above can also be used for open chest CABG surgery on the beating heart. In that case, the constraints on seize and positioning of the instruments do not hold anymore (everything has to pass through 15 mm I.D. trocarts).
- Fur ⁇ thermore the minimally invasive robotic surgical system can also be used for other operations, e.g. to remove thoracoscopically a myocardial bridge over a coronary artery. Subepicardially located accessory atrioventricular pathways may similarly be mapped with robotic motion compensated electrodes and interrupted surgically by this minimally invasive system.
- virtual object arrest of a moving object within the video image frame can be employed as a 2D or 3D diagnostic system for close inspection of e.g. a moving part of a machine when the machine is preferably not to be stopped.
- the robotic tracking with repair instruments will allow robotic manipulation and repair of the moving part of the machine.
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Signal Processing (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
Système médical permettant une intervenion de pontage aortocoronarien par greffe à thorax ouvert sur le c÷ur battant, par arrêt de l'image cible virtuelle. Le système comporte, par exemple, (a) l'imagerie vidéo thoracoscopique tridimensionnelle de la zone cible chirurgicale et un affichage vidéo stéréoscopique à l'intérieur de lunettes opératoires; (b) la poursuite vidéo tridimensionnelle de repères au voisinage de la zone cible chirurgicale, ou la poursuite par d'autres moyens; (c) l'arrêt de l'image cible virtuelle par manipulation de l'image en temps réel de manière à minimiser le déplacement des repères; (d) des bras robotiques thoracoscopiques à compensation des mouvements de la cible; possédant des outils chirurgicaux thoracoscopiques assurant la poursuite en temps réel de la cible en mouvement; (e) la manipulation commandée par le chirurgien des outils chirurgicaux robotiques avec superposition des actions du chirurgien sur les mouvements de poursuite automatisée; (f) une commande vocale d'actionnement ou d'interruption de l'arrêt de l'image cible virtuelle ou de la poursuite automatisée effectuée par les bras robotiques; (g) une commande vocale de réduction proportionnnel des actions du chirurgien par les outils robotiques; et (h) une commande vocale d'un module d'agrandissement d'une partie précise de l'image stéréoscopique.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AU74684/94A AU7468494A (en) | 1993-07-07 | 1994-07-05 | Robotic system for close inspection and remote treatment of moving parts |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US8684693A | 1993-07-07 | 1993-07-07 | |
US08/086,846 | 1993-07-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995001757A1 true WO1995001757A1 (fr) | 1995-01-19 |
Family
ID=22201288
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/NL1994/000156 WO1995001757A1 (fr) | 1993-07-07 | 1994-07-05 | Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants |
Country Status (2)
Country | Link |
---|---|
AU (1) | AU7468494A (fr) |
WO (1) | WO1995001757A1 (fr) |
Cited By (116)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2737860A1 (fr) * | 1995-08-14 | 1997-02-21 | Deutsche Forsch Luft Raumfahrt | Procede pour realiser l'asservissement d'un laparoscope stereoscopique dans le domaine de la chirurgie avec ingerance minimale dans le corps humain |
WO1998016164A1 (fr) * | 1996-10-15 | 1998-04-23 | Mayer Paul W | Plate-forme destinee a supprimer le mouvement relatif pour la chirurgie |
US5749892A (en) * | 1994-08-31 | 1998-05-12 | Heartport, Inc. | Device for isolating a surgical site |
US5799661A (en) * | 1993-02-22 | 1998-09-01 | Heartport, Inc. | Devices and methods for port-access multivessel coronary artery bypass surgery |
US5836311A (en) * | 1995-09-20 | 1998-11-17 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US5855210A (en) * | 1993-02-22 | 1999-01-05 | Heartport, Inc. | Methods for performing heart surgery |
WO1999050721A1 (fr) | 1997-09-19 | 1999-10-07 | Massachusetts Institute Of Technology | Appareil robotique |
US6027476A (en) * | 1992-12-03 | 2000-02-22 | Heartport, Inc. | Methods and systems for performing thoracoscopic coronary bypass and other procedures |
WO2000015119A2 (fr) | 1998-09-15 | 2000-03-23 | Medtronic, Inc. | Immobilisation temporaire d'une zone localisee de tissu et dispositif a cet effet |
US6071295A (en) * | 1997-02-27 | 2000-06-06 | Medivas Opcab, Inc. | Device to hold an anastomotic site of coronary artery motionless and bloodless for the bypass operation |
WO2000033723A2 (fr) | 1998-11-20 | 2000-06-15 | Intuitive Surgical, Inc. | Chirurgie cardiaque sans cardioplegie |
US6106511A (en) * | 1993-05-14 | 2000-08-22 | Sri International | Methods and devices for positioning a surgical instrument at a surgical site |
US6201984B1 (en) | 1991-06-13 | 2001-03-13 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US6231585B1 (en) | 1997-11-20 | 2001-05-15 | Medivas, Llc | Device for stabilizing a treatment site and method of use |
US6246200B1 (en) | 1998-08-04 | 2001-06-12 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
US6259806B1 (en) | 1992-01-21 | 2001-07-10 | Sri International | Method and apparatus for transforming coordinate systems in a telemanipulation system |
EP1125557A2 (fr) * | 1995-02-16 | 2001-08-22 | Hitachi, Ltd. | Système destiné au support de la chirurgie télécommandée |
US6332468B1 (en) | 1995-04-10 | 2001-12-25 | Cardiothoracic Systems, Inc. | Method for coronary artery bypass |
US6346077B1 (en) | 1996-02-20 | 2002-02-12 | Cardiothoracic Systems, Inc. | Surgical instrument for stabilizing the beating heart during coronary artery bypass graft surgery |
US6381499B1 (en) | 1996-02-20 | 2002-04-30 | Cardiothoracic Systems, Inc. | Method and apparatus for using vagus nerve stimulation in surgery |
US6406472B1 (en) | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US6468265B1 (en) | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6478029B1 (en) | 1993-02-22 | 2002-11-12 | Hearport, Inc. | Devices and methods for port-access multivessel coronary artery bypass surgery |
US6494211B1 (en) | 1993-02-22 | 2002-12-17 | Hearport, Inc. | Device and methods for port-access multivessel coronary artery bypass surgery |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US6592573B2 (en) | 2000-10-11 | 2003-07-15 | Popcab, Llc | Through-port heart stabilization system |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
WO2004002351A2 (fr) * | 2002-06-28 | 2004-01-08 | Georges Bogaerts | Element de guidage pour instruments chirurgicaux, instruments chirurgicaux, raccordement et utilisation |
US6684129B2 (en) | 1997-09-19 | 2004-01-27 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
WO2004029786A1 (fr) * | 2002-09-25 | 2004-04-08 | Imperial College Innovations Limited | Commande de manipulation robotique |
US6764445B2 (en) | 1998-11-20 | 2004-07-20 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
US6785593B2 (en) | 2001-09-07 | 2004-08-31 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US6788018B1 (en) | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US6860877B1 (en) | 2000-09-29 | 2005-03-01 | Computer Motion, Inc. | Heart stabilizer support arm |
DE10354642A1 (de) * | 2003-11-22 | 2005-06-16 | Bayerische Motoren Werke Ag | Vorrichtung und Verfahren zum Programmieren eines Industrieroboters |
US6999852B2 (en) | 1992-01-21 | 2006-02-14 | Sri International | Flexible robotic surgery system and method |
US7027892B2 (en) | 1992-08-10 | 2006-04-11 | Intuitive Surgical | Method and apparatus for performing minimally invasive cardiac procedures |
US7028692B2 (en) | 1992-12-03 | 2006-04-18 | Heartport, Inc. | Methods and systems for performing thoracoscopic coronary bypass and other procedures |
US7250028B2 (en) | 1999-11-09 | 2007-07-31 | Intuitive Surgical Inc | Endoscopic beating-heart stabilizer and vessel occlusion fastener |
NL1029127C2 (nl) * | 2004-05-27 | 2007-08-13 | Gen Electric | Systeem, werkwijze en vervaardigingsproduct voor het geleiden van een eindeffector naar een doelpositie binnen een persoon. |
WO2007136769A3 (fr) * | 2006-05-19 | 2008-02-21 | Mako Surgical Corp | Procédé et appareil pour commander un dispositif haptique |
US7395249B2 (en) * | 1994-09-22 | 2008-07-01 | Intuitive Surgical, Inc. | Speech interface for an automated endoscope system |
WO2008086493A2 (fr) * | 2007-01-10 | 2008-07-17 | Hansen Medical, Inc. | Système de cathéter robotisé |
WO2008086434A2 (fr) * | 2007-01-09 | 2008-07-17 | Cyberheart, Inc. | Dépôt de rayonnement dans le myocarde sous guidage échographique |
US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
US7769427B2 (en) * | 2002-07-16 | 2010-08-03 | Magnetics, Inc. | Apparatus and method for catheter guidance control and imaging |
US7869854B2 (en) | 2006-02-23 | 2011-01-11 | Magnetecs, Inc. | Apparatus for magnetically deployable catheter with MOSFET sensor and method for mapping and ablation |
US7873402B2 (en) | 2003-10-20 | 2011-01-18 | Magnetecs, Inc. | System and method for radar-assisted catheter guidance and control |
US7920909B2 (en) | 2005-09-13 | 2011-04-05 | Veran Medical Technologies, Inc. | Apparatus and method for automatic image guided accuracy verification |
US8027714B2 (en) | 2005-05-27 | 2011-09-27 | Magnetecs, Inc. | Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging |
US8150495B2 (en) | 2003-08-11 | 2012-04-03 | Veran Medical Technologies, Inc. | Bodily sealants and methods and apparatus for image-guided delivery of same |
US8345821B2 (en) | 2007-03-16 | 2013-01-01 | Cyberheart, Inc. | Radiation treatment planning and delivery for moving targets in the heart |
US8457714B2 (en) | 2008-11-25 | 2013-06-04 | Magnetecs, Inc. | System and method for a catheter impedance seeking device |
US8483801B2 (en) | 2003-08-11 | 2013-07-09 | Veran Medical Technologies, Inc. | Methods, apparatuses, and systems useful in conducting image guided interventions |
US8600551B2 (en) | 1998-11-20 | 2013-12-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with operatively couplable simulator unit for surgeon training |
US8690908B2 (en) | 2002-12-06 | 2014-04-08 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
US8784290B2 (en) | 2009-07-17 | 2014-07-22 | Cyberheart, Inc. | Heart treatment kit, system, and method for radiosurgically alleviating arrhythmia |
US8840628B2 (en) | 1995-06-07 | 2014-09-23 | Intuitive Surgical Operations, Inc. | Surgical manipulator for a telerobotic system |
US20140316435A1 (en) * | 2007-03-01 | 2014-10-23 | Titan Medical Inc. | Methods, systems and devices for three dimensional input and control methods and systems based thereon |
US8911499B2 (en) | 2002-03-06 | 2014-12-16 | Mako Surgical Corp. | Haptic guidance method |
US8911428B2 (en) | 2001-06-29 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
US8944070B2 (en) | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
US9005112B2 (en) | 2001-06-29 | 2015-04-14 | Intuitive Surgical Operations, Inc. | Articulate and swapable endoscope for a surgical robot |
US9022998B2 (en) | 2010-02-26 | 2015-05-05 | Maquet Cardiovascular Llc | Blower instrument, apparatus and methods of using |
US9039681B2 (en) | 2002-01-16 | 2015-05-26 | Intuitive Surgical Operations, Inc. | Minimally invasive surgical training using robotics and telecollaboration |
US9068628B2 (en) | 2004-09-30 | 2015-06-30 | Intuitive Surgical Operations, Inc. | Robotic arms with strap drive trains |
US9085083B2 (en) | 2004-05-04 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Tool grip calibration for robotic surgery |
US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US9138165B2 (en) | 2012-02-22 | 2015-09-22 | Veran Medical Technologies, Inc. | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US9271798B2 (en) | 1998-11-20 | 2016-03-01 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US9333042B2 (en) | 2007-06-13 | 2016-05-10 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US9345387B2 (en) | 2006-06-13 | 2016-05-24 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
US9402608B2 (en) | 2003-07-08 | 2016-08-02 | Maquet Cardiovascular Llc | Organ manipulator apparatus |
US9402619B2 (en) | 1996-11-22 | 2016-08-02 | Intuitive Surgical Operation, Inc. | Rigidly-linked articulating wrist with decoupled motion transmission |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
JP2016185326A (ja) * | 2010-10-08 | 2016-10-27 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 血管穿孔機の内視鏡支援による配置 |
EP2866722A4 (fr) * | 2012-06-29 | 2016-11-02 | Childrens Nat Medical Ct | Procédures chirurgicales et interventionnelles automatisées |
US9492927B2 (en) | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US9498198B2 (en) | 1999-05-04 | 2016-11-22 | Maquet Cardiovascular, Llc | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US9498231B2 (en) | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US9516996B2 (en) | 2008-06-27 | 2016-12-13 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip |
US9572481B2 (en) | 2011-05-13 | 2017-02-21 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
US9622826B2 (en) | 2010-02-12 | 2017-04-18 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US9655539B2 (en) | 2009-11-09 | 2017-05-23 | Magnetecs, Inc. | System and method for targeting catheter electrodes |
US9717563B2 (en) | 2008-06-27 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US9788909B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc | Synthetic representation of a surgical instrument |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US9801686B2 (en) | 2003-03-06 | 2017-10-31 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
US9956044B2 (en) | 2009-08-15 | 2018-05-01 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10165928B2 (en) | 2010-08-20 | 2019-01-01 | Mark Hunter | Systems, instruments, and methods for four dimensional soft tissue navigation |
US10219811B2 (en) | 2011-06-27 | 2019-03-05 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US10448762B2 (en) | 2017-09-15 | 2019-10-22 | Kohler Co. | Mirror |
US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US10595948B2 (en) | 2004-09-30 | 2020-03-24 | Intuitive Surgical Operations, Inc. | Methods and apparatus for stacked electro-mechancial straps in robotic arms |
US10610301B2 (en) | 2002-03-06 | 2020-04-07 | Mako Surgical Corp. | System and method for using a haptic device as an input device |
US10617324B2 (en) | 2014-04-23 | 2020-04-14 | Veran Medical Technologies, Inc | Apparatuses and methods for endobronchial navigation to and confirmation of the location of a target tissue and percutaneous interception of the target tissue |
US10624701B2 (en) | 2014-04-23 | 2020-04-21 | Veran Medical Technologies, Inc. | Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter |
US10663938B2 (en) | 2017-09-15 | 2020-05-26 | Kohler Co. | Power operation of intelligent devices |
US10772690B2 (en) | 2008-09-30 | 2020-09-15 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US10820949B2 (en) | 1999-04-07 | 2020-11-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with dynamically adjustable slave manipulator characteristics |
US10887125B2 (en) | 2017-09-15 | 2021-01-05 | Kohler Co. | Bathroom speaker |
US10974075B2 (en) | 2007-03-16 | 2021-04-13 | Varian Medical Systems, Inc. | Radiation treatment planning and delivery for moving targets in the heart |
US11099540B2 (en) | 2017-09-15 | 2021-08-24 | Kohler Co. | User identity in household appliances |
US11116574B2 (en) | 2006-06-16 | 2021-09-14 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
US11153472B2 (en) | 2005-10-17 | 2021-10-19 | Cutting Edge Vision, LLC | Automatic upload of pictures from a camera |
US11202676B2 (en) | 2002-03-06 | 2021-12-21 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
US11304629B2 (en) | 2005-09-13 | 2022-04-19 | Veran Medical Technologies, Inc. | Apparatus and method for image guided accuracy verification |
US11576736B2 (en) | 2007-03-01 | 2023-02-14 | Titan Medical Inc. | Hand controller for robotic surgery system |
US11744563B2 (en) | 2008-09-30 | 2023-09-05 | Intuitive Surgical Operations, Inc. | Medical instrument engagement process |
US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US11921794B2 (en) | 2017-09-15 | 2024-03-05 | Kohler Co. | Feedback for water consuming appliance |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5054045A (en) * | 1990-11-14 | 1991-10-01 | Cedars-Sinai Medical Center | Coronary tracking display |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
-
1994
- 1994-07-05 AU AU74684/94A patent/AU7468494A/en not_active Abandoned
- 1994-07-05 WO PCT/NL1994/000156 patent/WO1995001757A1/fr active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5054045A (en) * | 1990-11-14 | 1991-10-01 | Cedars-Sinai Medical Center | Coronary tracking display |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
Cited By (290)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6201984B1 (en) | 1991-06-13 | 2001-03-13 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US6574355B2 (en) | 1992-01-21 | 2003-06-03 | Intuitive Surigical, Inc. | Method and apparatus for transforming coordinate systems in a telemanipulation system |
US7006895B2 (en) | 1992-01-21 | 2006-02-28 | Sri International | Computed pivotal center surgical robotic system and method |
US6999852B2 (en) | 1992-01-21 | 2006-02-14 | Sri International | Flexible robotic surgery system and method |
US6259806B1 (en) | 1992-01-21 | 2001-07-10 | Sri International | Method and apparatus for transforming coordinate systems in a telemanipulation system |
US7333642B2 (en) | 1992-01-21 | 2008-02-19 | Sri International, Inc. | Method and apparatus for transforming coordinate systems in a telemanipulation system |
US8068649B2 (en) | 1992-01-21 | 2011-11-29 | Sri International, Inc. | Method and apparatus for transforming coordinate systems in a telemanipulation system |
US7390325B2 (en) | 1992-08-10 | 2008-06-24 | Intuitive Surgical, Inc. | Apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device |
US7027892B2 (en) | 1992-08-10 | 2006-04-11 | Intuitive Surgical | Method and apparatus for performing minimally invasive cardiac procedures |
US7785320B2 (en) | 1992-08-10 | 2010-08-31 | Intuitive Surgical Operations, Inc. | Method for operating a medical robotic system by stopping movement of a surgical instrument about a pivot point or issuing a warning if the pivot point moves beyond a threshold value |
US7131447B2 (en) | 1992-12-03 | 2006-11-07 | Heartport, Inc. | Methods and systems for performing thoracoscopic coronary bypass and other procedures |
US6027476A (en) * | 1992-12-03 | 2000-02-22 | Heartport, Inc. | Methods and systems for performing thoracoscopic coronary bypass and other procedures |
US7028692B2 (en) | 1992-12-03 | 2006-04-18 | Heartport, Inc. | Methods and systems for performing thoracoscopic coronary bypass and other procedures |
US6478029B1 (en) | 1993-02-22 | 2002-11-12 | Hearport, Inc. | Devices and methods for port-access multivessel coronary artery bypass surgery |
US5855210A (en) * | 1993-02-22 | 1999-01-05 | Heartport, Inc. | Methods for performing heart surgery |
US6494211B1 (en) | 1993-02-22 | 2002-12-17 | Hearport, Inc. | Device and methods for port-access multivessel coronary artery bypass surgery |
US5799661A (en) * | 1993-02-22 | 1998-09-01 | Heartport, Inc. | Devices and methods for port-access multivessel coronary artery bypass surgery |
US6311693B1 (en) | 1993-02-22 | 2001-11-06 | Wesley D. Sterman | Method and systems for performing thoracoscopic cardiac bypass and other procedures |
US5961481A (en) * | 1993-02-22 | 1999-10-05 | Heartport, Inc. | Systems for coronary bypass procedures |
US6758843B2 (en) | 1993-05-14 | 2004-07-06 | Sri International, Inc. | Remote center positioner |
US6106511A (en) * | 1993-05-14 | 2000-08-22 | Sri International | Methods and devices for positioning a surgical instrument at a surgical site |
US6406472B1 (en) | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
US8526737B2 (en) | 1994-05-05 | 2013-09-03 | Sri International | Method and apparatus for transforming coordinate systems in a telemanipulation system |
US6821247B2 (en) | 1994-08-31 | 2004-11-23 | Heartport, Inc. | Device and method for isolating a surgical site |
US6149583A (en) * | 1994-08-31 | 2000-11-21 | Heartport, Inc. | Device and method for isolating a surgical site |
US6139492A (en) * | 1994-08-31 | 2000-10-31 | Heartport, Inc. | Device and method for isolating a surgical site |
US6017304A (en) * | 1994-08-31 | 2000-01-25 | Vierra; Mark A. | Device and method for isolating a surgical site |
US7025722B2 (en) | 1994-08-31 | 2006-04-11 | Heartport, Inc. | Device and method for isolating a surgical site |
US5807243A (en) * | 1994-08-31 | 1998-09-15 | Heartport, Inc. | Method for isolating a surgical site |
US5749892A (en) * | 1994-08-31 | 1998-05-12 | Heartport, Inc. | Device for isolating a surgical site |
US6482151B1 (en) | 1994-08-31 | 2002-11-19 | Heartport, Inc. | Method of performing a procedure on a coronary artery |
US7395249B2 (en) * | 1994-09-22 | 2008-07-01 | Intuitive Surgical, Inc. | Speech interface for an automated endoscope system |
EP1125557A3 (fr) * | 1995-02-16 | 2004-01-02 | Hitachi, Ltd. | Système destiné au support de la chirurgie télécommandée |
EP1125557A2 (fr) * | 1995-02-16 | 2001-08-22 | Hitachi, Ltd. | Système destiné au support de la chirurgie télécommandée |
US6332468B1 (en) | 1995-04-10 | 2001-12-25 | Cardiothoracic Systems, Inc. | Method for coronary artery bypass |
US8840628B2 (en) | 1995-06-07 | 2014-09-23 | Intuitive Surgical Operations, Inc. | Surgical manipulator for a telerobotic system |
FR2737860A1 (fr) * | 1995-08-14 | 1997-02-21 | Deutsche Forsch Luft Raumfahrt | Procede pour realiser l'asservissement d'un laparoscope stereoscopique dans le domaine de la chirurgie avec ingerance minimale dans le corps humain |
US6015378A (en) * | 1995-09-20 | 2000-01-18 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area tissue |
US5927284A (en) * | 1995-09-20 | 1999-07-27 | Medtronic, Inc | Method and apparatus for temporarily immobilizing a local area of tissue |
US5836311A (en) * | 1995-09-20 | 1998-11-17 | Medtronic, Inc. | Method and apparatus for temporarily immobilizing a local area of tissue |
US7025064B2 (en) | 1996-02-20 | 2006-04-11 | Intuitive Surgical Inc | Method and apparatus for performing minimally invasive cardiac procedures |
US6381499B1 (en) | 1996-02-20 | 2002-04-30 | Cardiothoracic Systems, Inc. | Method and apparatus for using vagus nerve stimulation in surgery |
US6346077B1 (en) | 1996-02-20 | 2002-02-12 | Cardiothoracic Systems, Inc. | Surgical instrument for stabilizing the beating heart during coronary artery bypass graft surgery |
US5871017A (en) * | 1996-10-15 | 1999-02-16 | Mayer; Paul W. | Relative motion cancelling platform for surgery |
WO1998016164A1 (fr) * | 1996-10-15 | 1998-04-23 | Mayer Paul W | Plate-forme destinee a supprimer le mouvement relatif pour la chirurgie |
US9402619B2 (en) | 1996-11-22 | 2016-08-02 | Intuitive Surgical Operation, Inc. | Rigidly-linked articulating wrist with decoupled motion transmission |
US6071295A (en) * | 1997-02-27 | 2000-06-06 | Medivas Opcab, Inc. | Device to hold an anastomotic site of coronary artery motionless and bloodless for the bypass operation |
US6338710B1 (en) | 1997-02-27 | 2002-01-15 | Medivas, Llc | Device for stabilizing a treatment site and method of use |
EP1015944A1 (fr) * | 1997-09-19 | 2000-07-05 | Massachusetts Institute Of Technology | Appareil robotique |
EP2362283A3 (fr) * | 1997-09-19 | 2014-03-05 | Massachusetts Institute Of Technology | Appareil robotique |
EP2362284A3 (fr) * | 1997-09-19 | 2013-05-22 | Massachusetts Institute Of Technology | Appareil robotique |
US6786896B1 (en) | 1997-09-19 | 2004-09-07 | Massachusetts Institute Of Technology | Robotic apparatus |
WO1999050721A1 (fr) | 1997-09-19 | 1999-10-07 | Massachusetts Institute Of Technology | Appareil robotique |
EP1015944A4 (fr) * | 1997-09-19 | 2008-12-31 | Massachusetts Inst Technology | Appareil robotique |
US6684129B2 (en) | 1997-09-19 | 2004-01-27 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
US8123740B2 (en) * | 1997-09-19 | 2012-02-28 | Massachusetts Institute Of Technology | Robotic apparatus |
US6231585B1 (en) | 1997-11-20 | 2001-05-15 | Medivas, Llc | Device for stabilizing a treatment site and method of use |
US6246200B1 (en) | 1998-08-04 | 2001-06-12 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
WO2000015119A2 (fr) | 1998-09-15 | 2000-03-23 | Medtronic, Inc. | Immobilisation temporaire d'une zone localisee de tissu et dispositif a cet effet |
US9636186B2 (en) | 1998-11-20 | 2017-05-02 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US7865266B2 (en) | 1998-11-20 | 2011-01-04 | Intuitive Surgical Operations, Inc. | Cooperative minimally invasive telesurgical system |
US8105235B2 (en) | 1998-11-20 | 2012-01-31 | Intuitive Surgical Operations, Inc. | Stabilizer for robotic beating-heart surgery |
US9119654B2 (en) | 1998-11-20 | 2015-09-01 | Intuitive Surgical Operations, Inc. | Stabilizer for robotic beating-heart surgery |
US9271798B2 (en) | 1998-11-20 | 2016-03-01 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US6837883B2 (en) | 1998-11-20 | 2005-01-04 | Intuitive Surgical, Inc. | Arm cart for telerobotic surgical system |
WO2000033723A2 (fr) | 1998-11-20 | 2000-06-15 | Intuitive Surgical, Inc. | Chirurgie cardiaque sans cardioplegie |
EP3042625A1 (fr) * | 1998-11-20 | 2016-07-13 | Intuitive Surgical Operations, Inc. | Système cordonné de téléchirurgie mini-invasive |
US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
US9666101B2 (en) | 1998-11-20 | 2017-05-30 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
EP1150601A4 (fr) * | 1998-11-20 | 2007-08-15 | Intuitive Surgical Inc | Chirurgie cardiaque sans cardioplegie |
EP1150601A2 (fr) * | 1998-11-20 | 2001-11-07 | Intuitive Surgical, Inc. | Chirurgie cardiaque sans cardioplegie |
US8914150B2 (en) | 1998-11-20 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Cooperative minimally invasive telesurgical system |
EP2106764A3 (fr) * | 1998-11-20 | 2009-12-23 | Intuitive Surgical, Inc. | Système pour chirurgie cardiaque sans cardioplegie |
US6764445B2 (en) | 1998-11-20 | 2004-07-20 | Intuitive Surgical, Inc. | Stabilizer for robotic beating-heart surgery |
US8600551B2 (en) | 1998-11-20 | 2013-12-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with operatively couplable simulator unit for surgeon training |
US9867671B2 (en) | 1998-11-20 | 2018-01-16 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
US6468265B1 (en) | 1998-11-20 | 2002-10-22 | Intuitive Surgical, Inc. | Performing cardiac surgery without cardioplegia |
US6714839B2 (en) | 1998-12-08 | 2004-03-30 | Intuitive Surgical, Inc. | Master having redundant degrees of freedom |
US10271909B2 (en) | 1999-04-07 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device |
US6879880B2 (en) | 1999-04-07 | 2005-04-12 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US10820949B2 (en) | 1999-04-07 | 2020-11-03 | Intuitive Surgical Operations, Inc. | Medical robotic system with dynamically adjustable slave manipulator characteristics |
US10433919B2 (en) | 1999-04-07 | 2019-10-08 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
US7373219B2 (en) | 1999-04-07 | 2008-05-13 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
US7778733B2 (en) | 1999-04-07 | 2010-08-17 | Intuitive Surgical Operations, Inc. | Grip strength with tactile feedback for robotic surgery |
US8944070B2 (en) | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US9101397B2 (en) | 1999-04-07 | 2015-08-11 | Intuitive Surgical Operations, Inc. | Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system |
US9232984B2 (en) | 1999-04-07 | 2016-01-12 | Intuitive Surgical Operations, Inc. | Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system |
US9498198B2 (en) | 1999-05-04 | 2016-11-22 | Maquet Cardiovascular, Llc | Surgical instruments for accessing and stabilizing a localized portion of a beating heart |
US6788018B1 (en) | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
US6933695B2 (en) | 1999-08-03 | 2005-08-23 | Intuitive Surgical | Ceiling and floor mounted surgical robot set-up arms |
US8870900B2 (en) | 1999-11-09 | 2014-10-28 | Intuitive Surgical Operations, Inc. | Endoscopic beating-heart stabilizer and vessel occlusion fastener |
US7250028B2 (en) | 1999-11-09 | 2007-07-31 | Intuitive Surgical Inc | Endoscopic beating-heart stabilizer and vessel occlusion fastener |
US6860877B1 (en) | 2000-09-29 | 2005-03-01 | Computer Motion, Inc. | Heart stabilizer support arm |
US6592573B2 (en) | 2000-10-11 | 2003-07-15 | Popcab, Llc | Through-port heart stabilization system |
US9005112B2 (en) | 2001-06-29 | 2015-04-14 | Intuitive Surgical Operations, Inc. | Articulate and swapable endoscope for a surgical robot |
US11051794B2 (en) | 2001-06-29 | 2021-07-06 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
US9717486B2 (en) | 2001-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
US8911428B2 (en) | 2001-06-29 | 2014-12-16 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
US9730572B2 (en) | 2001-06-29 | 2017-08-15 | Intuitive Surgical Operations, Inc. | Articulate and swappable endoscope for a surgical robot |
US10506920B2 (en) | 2001-06-29 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Articulate and swappable endoscope for a surgical robot |
US10105128B2 (en) | 2001-06-29 | 2018-10-23 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
US6785593B2 (en) | 2001-09-07 | 2004-08-31 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US6799088B2 (en) | 2001-09-07 | 2004-09-28 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
US9039681B2 (en) | 2002-01-16 | 2015-05-26 | Intuitive Surgical Operations, Inc. | Minimally invasive surgical training using robotics and telecollaboration |
US9786203B2 (en) | 2002-01-16 | 2017-10-10 | Intuitive Surgical Operations, Inc. | Minimally invasive surgical training using robotics and telecollaboration |
US9775682B2 (en) | 2002-03-06 | 2017-10-03 | Mako Surgical Corp. | Teleoperation system with visual indicator and method of use during surgical procedures |
US10058392B2 (en) | 2002-03-06 | 2018-08-28 | Mako Surgical Corp. | Neural monitor-based dynamic boundaries |
US9002426B2 (en) | 2002-03-06 | 2015-04-07 | Mako Surgical Corp. | Haptic guidance system and method |
US11202676B2 (en) | 2002-03-06 | 2021-12-21 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
US11076918B2 (en) | 2002-03-06 | 2021-08-03 | Mako Surgical Corp. | Robotically-assisted constraint mechanism |
US8911499B2 (en) | 2002-03-06 | 2014-12-16 | Mako Surgical Corp. | Haptic guidance method |
US10231790B2 (en) | 2002-03-06 | 2019-03-19 | Mako Surgical Corp. | Haptic guidance system and method |
US11298190B2 (en) | 2002-03-06 | 2022-04-12 | Mako Surgical Corp. | Robotically-assisted constraint mechanism |
US9636185B2 (en) | 2002-03-06 | 2017-05-02 | Mako Surgical Corp. | System and method for performing surgical procedure using drill guide and robotic device operable in multiple modes |
US11426245B2 (en) | 2002-03-06 | 2022-08-30 | Mako Surgical Corp. | Surgical guidance system and method with acoustic feedback |
US10610301B2 (en) | 2002-03-06 | 2020-04-07 | Mako Surgical Corp. | System and method for using a haptic device as an input device |
US11298191B2 (en) | 2002-03-06 | 2022-04-12 | Mako Surgical Corp. | Robotically-assisted surgical guide |
US9775681B2 (en) | 2002-03-06 | 2017-10-03 | Mako Surgical Corp. | Haptic guidance system and method |
WO2004002351A3 (fr) * | 2002-06-28 | 2004-07-08 | Georges Bogaerts | Element de guidage pour instruments chirurgicaux, instruments chirurgicaux, raccordement et utilisation |
WO2004002351A2 (fr) * | 2002-06-28 | 2004-01-08 | Georges Bogaerts | Element de guidage pour instruments chirurgicaux, instruments chirurgicaux, raccordement et utilisation |
US7769427B2 (en) * | 2002-07-16 | 2010-08-03 | Magnetics, Inc. | Apparatus and method for catheter guidance control and imaging |
US7873401B2 (en) | 2002-07-16 | 2011-01-18 | Magnetecs, Inc. | System and method for a magnetic catheter tip |
WO2004029786A1 (fr) * | 2002-09-25 | 2004-04-08 | Imperial College Innovations Limited | Commande de manipulation robotique |
US11633241B2 (en) | 2002-12-06 | 2023-04-25 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
US9623563B2 (en) | 2002-12-06 | 2017-04-18 | Intuitive Surgical Operations, Inc. | Tool grip calibration for robotic surgery |
US8690908B2 (en) | 2002-12-06 | 2014-04-08 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
US10524868B2 (en) | 2002-12-06 | 2020-01-07 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
US9585641B2 (en) | 2002-12-06 | 2017-03-07 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
US9095317B2 (en) | 2002-12-06 | 2015-08-04 | Intuitive Surgical Operations, Inc. | Flexible wrist for surgical tool |
US9801686B2 (en) | 2003-03-06 | 2017-10-31 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
US10383612B2 (en) | 2003-07-08 | 2019-08-20 | Maquet Cardiovascular Llc | Organ manipulator apparatus |
US9402608B2 (en) | 2003-07-08 | 2016-08-02 | Maquet Cardiovascular Llc | Organ manipulator apparatus |
US8150495B2 (en) | 2003-08-11 | 2012-04-03 | Veran Medical Technologies, Inc. | Bodily sealants and methods and apparatus for image-guided delivery of same |
US8483801B2 (en) | 2003-08-11 | 2013-07-09 | Veran Medical Technologies, Inc. | Methods, apparatuses, and systems useful in conducting image guided interventions |
US10470725B2 (en) | 2003-08-11 | 2019-11-12 | Veran Medical Technologies, Inc. | Method, apparatuses, and systems useful in conducting image guided interventions |
US11154283B2 (en) | 2003-08-11 | 2021-10-26 | Veran Medical Technologies, Inc. | Bodily sealants and methods and apparatus for image-guided delivery of same |
US11426134B2 (en) | 2003-08-11 | 2022-08-30 | Veran Medical Technologies, Inc. | Methods, apparatuses and systems useful in conducting image guided interventions |
US7873402B2 (en) | 2003-10-20 | 2011-01-18 | Magnetecs, Inc. | System and method for radar-assisted catheter guidance and control |
DE10354642A1 (de) * | 2003-11-22 | 2005-06-16 | Bayerische Motoren Werke Ag | Vorrichtung und Verfahren zum Programmieren eines Industrieroboters |
US7403835B2 (en) | 2003-11-22 | 2008-07-22 | Bayerische Motoren Werke Aktiengesellschaft | Device and method for programming an industrial robot |
US9085083B2 (en) | 2004-05-04 | 2015-07-21 | Intuitive Surgical Operations, Inc. | Tool grip calibration for robotic surgery |
US9317651B2 (en) | 2004-05-04 | 2016-04-19 | Intuitive Surgical Operations, Inc. | Tool grip calibration for robotic surgery |
US10595946B2 (en) | 2004-05-04 | 2020-03-24 | Intuitive Surgical Operations, Inc. | Tool grip calibration for robotic surgery |
US9872737B2 (en) | 2004-05-04 | 2018-01-23 | Intuitive Surgical Operations, Inc. | Tool grip calibration for robotic surgery |
NL1029127C2 (nl) * | 2004-05-27 | 2007-08-13 | Gen Electric | Systeem, werkwijze en vervaardigingsproduct voor het geleiden van een eindeffector naar een doelpositie binnen een persoon. |
US9261172B2 (en) | 2004-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Multi-ply strap drive trains for surgical robotic arms |
US10646292B2 (en) | 2004-09-30 | 2020-05-12 | Intuitive Surgical Operations, Inc. | Electro-mechanical strap stack in robotic arms |
US10595948B2 (en) | 2004-09-30 | 2020-03-24 | Intuitive Surgical Operations, Inc. | Methods and apparatus for stacked electro-mechancial straps in robotic arms |
US9797484B2 (en) | 2004-09-30 | 2017-10-24 | Intuitive Surgical Operations, Inc. | Methods for robotic arms with strap drive trains |
US8062288B2 (en) | 2004-09-30 | 2011-11-22 | Intuitive Surgical Operations, Inc. | Offset remote center manipulator for robotic surgery |
US9803727B2 (en) | 2004-09-30 | 2017-10-31 | Intuitive Surgical Operations, Inc. | Strap guide system and methods thereof for robotic surgical arms |
US10449011B2 (en) | 2004-09-30 | 2019-10-22 | Intuitive Surgical Operations, Inc. | Offset remote center manipulator for robotic surgery |
US8562594B2 (en) | 2004-09-30 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Offset remote center manipulator for robotic surgery |
US11160626B2 (en) | 2004-09-30 | 2021-11-02 | Intuitive Surgical Operations, Inc. | Offset remote center manipulator for robotic surgery |
US8256319B2 (en) | 2004-09-30 | 2012-09-04 | Intuitive Surgical Operations, Inc. | Offset remote center manipulator for robotic surgery |
US9068628B2 (en) | 2004-09-30 | 2015-06-30 | Intuitive Surgical Operations, Inc. | Robotic arms with strap drive trains |
US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
US8027714B2 (en) | 2005-05-27 | 2011-09-27 | Magnetecs, Inc. | Apparatus and method for shaped magnetic field control for catheter, guidance, control, and imaging |
US11304630B2 (en) | 2005-09-13 | 2022-04-19 | Veran Medical Technologies, Inc. | Apparatus and method for image guided accuracy verification |
US11304629B2 (en) | 2005-09-13 | 2022-04-19 | Veran Medical Technologies, Inc. | Apparatus and method for image guided accuracy verification |
US9218663B2 (en) | 2005-09-13 | 2015-12-22 | Veran Medical Technologies, Inc. | Apparatus and method for automatic image guided accuracy verification |
US9218664B2 (en) | 2005-09-13 | 2015-12-22 | Veran Medical Technologies, Inc. | Apparatus and method for image guided accuracy verification |
US7920909B2 (en) | 2005-09-13 | 2011-04-05 | Veran Medical Technologies, Inc. | Apparatus and method for automatic image guided accuracy verification |
US10617332B2 (en) | 2005-09-13 | 2020-04-14 | Veran Medical Technologies, Inc. | Apparatus and method for image guided accuracy verification |
US11153472B2 (en) | 2005-10-17 | 2021-10-19 | Cutting Edge Vision, LLC | Automatic upload of pictures from a camera |
US11818458B2 (en) | 2005-10-17 | 2023-11-14 | Cutting Edge Vision, LLC | Camera touchpad |
US7869854B2 (en) | 2006-02-23 | 2011-01-11 | Magnetecs, Inc. | Apparatus for magnetically deployable catheter with MOSFET sensor and method for mapping and ablation |
US11771504B2 (en) | 2006-05-19 | 2023-10-03 | Mako Surgical Corp. | Surgical system with base and arm tracking |
US11712308B2 (en) | 2006-05-19 | 2023-08-01 | Mako Surgical Corp. | Surgical system with base tracking |
US11937884B2 (en) | 2006-05-19 | 2024-03-26 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
US12004817B2 (en) | 2006-05-19 | 2024-06-11 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
US11123143B2 (en) | 2006-05-19 | 2021-09-21 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
US11844577B2 (en) | 2006-05-19 | 2023-12-19 | Mako Surgical Corp. | System and method for verifying calibration of a surgical system |
US11950856B2 (en) | 2006-05-19 | 2024-04-09 | Mako Surgical Corp. | Surgical device with movement compensation |
US11291506B2 (en) | 2006-05-19 | 2022-04-05 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
US9724165B2 (en) | 2006-05-19 | 2017-08-08 | Mako Surgical Corp. | System and method for verifying calibration of a surgical device |
US10350012B2 (en) | 2006-05-19 | 2019-07-16 | MAKO Surgiccal Corp. | Method and apparatus for controlling a haptic device |
US10028789B2 (en) | 2006-05-19 | 2018-07-24 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
WO2007136769A3 (fr) * | 2006-05-19 | 2008-02-21 | Mako Surgical Corp | Procédé et appareil pour commander un dispositif haptique |
US10952796B2 (en) | 2006-05-19 | 2021-03-23 | Mako Surgical Corp. | System and method for verifying calibration of a surgical device |
US9345387B2 (en) | 2006-06-13 | 2016-05-24 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
US11116574B2 (en) | 2006-06-16 | 2021-09-14 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
US11857265B2 (en) | 2006-06-16 | 2024-01-02 | Board Of Regents Of The University Of Nebraska | Method and apparatus for computer aided surgery |
US10737394B2 (en) | 2006-06-29 | 2020-08-11 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US10730187B2 (en) | 2006-06-29 | 2020-08-04 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US10137575B2 (en) | 2006-06-29 | 2018-11-27 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US11638999B2 (en) | 2006-06-29 | 2023-05-02 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US11865729B2 (en) | 2006-06-29 | 2024-01-09 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US9801690B2 (en) | 2006-06-29 | 2017-10-31 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical instrument |
US9788909B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc | Synthetic representation of a surgical instrument |
US10773388B2 (en) | 2006-06-29 | 2020-09-15 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
WO2008086434A3 (fr) * | 2007-01-09 | 2008-11-13 | Cyberheart Inc | Dépôt de rayonnement dans le myocarde sous guidage échographique |
WO2008086434A2 (fr) * | 2007-01-09 | 2008-07-17 | Cyberheart, Inc. | Dépôt de rayonnement dans le myocarde sous guidage échographique |
WO2008086493A3 (fr) * | 2007-01-10 | 2008-09-04 | Hansen Medical Inc | Système de cathéter robotisé |
WO2008086493A2 (fr) * | 2007-01-10 | 2008-07-17 | Hansen Medical, Inc. | Système de cathéter robotisé |
US8108069B2 (en) | 2007-01-10 | 2012-01-31 | Hansen Medical, Inc. | Robotic catheter system and methods |
US10357319B2 (en) | 2007-03-01 | 2019-07-23 | Titan Medical Inc. | Robotic system display method for displaying auxiliary information |
US9149339B2 (en) * | 2007-03-01 | 2015-10-06 | Titan Medical Inc. | Methods, systems and devices for three dimensional input and control methods and systems based thereon |
US11806101B2 (en) | 2007-03-01 | 2023-11-07 | Titan Medical Inc. | Hand controller for robotic surgery system |
US20140316435A1 (en) * | 2007-03-01 | 2014-10-23 | Titan Medical Inc. | Methods, systems and devices for three dimensional input and control methods and systems based thereon |
US11576736B2 (en) | 2007-03-01 | 2023-02-14 | Titan Medical Inc. | Hand controller for robotic surgery system |
US10695139B2 (en) | 2007-03-01 | 2020-06-30 | Titan Medical Inc. | Robotic system display system for displaying auxiliary information |
US11712581B2 (en) | 2007-03-16 | 2023-08-01 | Varian Medical Systems, Inc. | Radiation treatment planning and delivery for moving targets in the heart |
US11241590B2 (en) | 2007-03-16 | 2022-02-08 | Varian Medical Systems, Inc. | Radiation treatment planning and delivery for moving targets in the heart |
US10974075B2 (en) | 2007-03-16 | 2021-04-13 | Varian Medical Systems, Inc. | Radiation treatment planning and delivery for moving targets in the heart |
US8345821B2 (en) | 2007-03-16 | 2013-01-01 | Cyberheart, Inc. | Radiation treatment planning and delivery for moving targets in the heart |
US10188472B2 (en) | 2007-06-13 | 2019-01-29 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US10271912B2 (en) | 2007-06-13 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US11399908B2 (en) | 2007-06-13 | 2022-08-02 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US9333042B2 (en) | 2007-06-13 | 2016-05-10 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
US9901408B2 (en) | 2007-06-13 | 2018-02-27 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
US11751955B2 (en) | 2007-06-13 | 2023-09-12 | Intuitive Surgical Operations, Inc. | Method and system for retracting an instrument into an entry guide |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
US10695136B2 (en) | 2007-06-13 | 2020-06-30 | Intuitive Surgical Operations, Inc. | Preventing instrument/tissue collisions |
US9138129B2 (en) | 2007-06-13 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US11432888B2 (en) | 2007-06-13 | 2022-09-06 | Intuitive Surgical Operations, Inc. | Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide |
US9629520B2 (en) | 2007-06-13 | 2017-04-25 | Intuitive Surgical Operations, Inc. | Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide |
US11439472B2 (en) | 2007-08-29 | 2022-09-13 | Intuitive Surgical Operations, Inc. | Medical robotic system with dynamically adjustable slave manipulator characteristics |
US11638622B2 (en) | 2008-06-27 | 2023-05-02 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US9516996B2 (en) | 2008-06-27 | 2016-12-13 | Intuitive Surgical Operations, Inc. | Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip |
US10368952B2 (en) | 2008-06-27 | 2019-08-06 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US11382702B2 (en) | 2008-06-27 | 2022-07-12 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US9717563B2 (en) | 2008-06-27 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US10772690B2 (en) | 2008-09-30 | 2020-09-15 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US11547503B2 (en) | 2008-09-30 | 2023-01-10 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US12023114B2 (en) | 2008-09-30 | 2024-07-02 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
US11744563B2 (en) | 2008-09-30 | 2023-09-05 | Intuitive Surgical Operations, Inc. | Medical instrument engagement process |
US8457714B2 (en) | 2008-11-25 | 2013-06-04 | Magnetecs, Inc. | System and method for a catheter impedance seeking device |
US10984567B2 (en) | 2009-03-31 | 2021-04-20 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US11941734B2 (en) | 2009-03-31 | 2024-03-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US10282881B2 (en) | 2009-03-31 | 2019-05-07 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US8784290B2 (en) | 2009-07-17 | 2014-07-22 | Cyberheart, Inc. | Heart treatment kit, system, and method for radiosurgically alleviating arrhythmia |
US9320916B2 (en) | 2009-07-17 | 2016-04-26 | Cyberheart, Inc. | Heart treatment kit, system, and method for radiosurgically alleviating arrhythmia |
US9492927B2 (en) | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US10959798B2 (en) | 2009-08-15 | 2021-03-30 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US9956044B2 (en) | 2009-08-15 | 2018-05-01 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US11596490B2 (en) | 2009-08-15 | 2023-03-07 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US10772689B2 (en) | 2009-08-15 | 2020-09-15 | Intuitive Surgical Operations, Inc. | Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide |
US10271915B2 (en) | 2009-08-15 | 2019-04-30 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
US9655539B2 (en) | 2009-11-09 | 2017-05-23 | Magnetecs, Inc. | System and method for targeting catheter electrodes |
US10537994B2 (en) | 2010-02-12 | 2020-01-21 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US9622826B2 (en) | 2010-02-12 | 2017-04-18 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US10828774B2 (en) | 2010-02-12 | 2020-11-10 | Intuitive Surgical Operations, Inc. | Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument |
US9662434B2 (en) | 2010-02-26 | 2017-05-30 | Maquet Cardiovascular Llc | Blower instrument, apparatus and methods of using |
US9022998B2 (en) | 2010-02-26 | 2015-05-05 | Maquet Cardiovascular Llc | Blower instrument, apparatus and methods of using |
US10898057B2 (en) | 2010-08-20 | 2021-01-26 | Veran Medical Technologies, Inc. | Apparatus and method for airway registration and navigation |
US11690527B2 (en) | 2010-08-20 | 2023-07-04 | Veran Medical Technologies, Inc. | Apparatus and method for four dimensional soft tissue navigation in endoscopic applications |
US10165928B2 (en) | 2010-08-20 | 2019-01-01 | Mark Hunter | Systems, instruments, and methods for four dimensional soft tissue navigation |
US10264947B2 (en) | 2010-08-20 | 2019-04-23 | Veran Medical Technologies, Inc. | Apparatus and method for airway registration and navigation |
US11109740B2 (en) | 2010-08-20 | 2021-09-07 | Veran Medical Technologies, Inc. | Apparatus and method for four dimensional soft tissue navigation in endoscopic applications |
JP2016185326A (ja) * | 2010-10-08 | 2016-10-27 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 血管穿孔機の内視鏡支援による配置 |
US11490793B2 (en) | 2011-05-13 | 2022-11-08 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
US9572481B2 (en) | 2011-05-13 | 2017-02-21 | Intuitive Surgical Operations, Inc. | Medical system with multiple operating modes for steering a medical instrument through linked body passages |
US10080617B2 (en) | 2011-06-27 | 2018-09-25 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US11911117B2 (en) | 2011-06-27 | 2024-02-27 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US9498231B2 (en) | 2011-06-27 | 2016-11-22 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10219811B2 (en) | 2011-06-27 | 2019-03-05 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10140704B2 (en) | 2012-02-22 | 2018-11-27 | Veran Medical Technologies, Inc. | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US10460437B2 (en) | 2012-02-22 | 2019-10-29 | Veran Medical Technologies, Inc. | Method for placing a localization element in an organ of a patient for four dimensional soft tissue navigation |
US11403753B2 (en) | 2012-02-22 | 2022-08-02 | Veran Medical Technologies, Inc. | Surgical catheter having side exiting medical instrument and related systems and methods for four dimensional soft tissue navigation |
US10249036B2 (en) | 2012-02-22 | 2019-04-02 | Veran Medical Technologies, Inc. | Surgical catheter having side exiting medical instrument and related systems and methods for four dimensional soft tissue navigation |
US10977789B2 (en) | 2012-02-22 | 2021-04-13 | Veran Medical Technologies, Inc. | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US11551359B2 (en) | 2012-02-22 | 2023-01-10 | Veran Medical Technologies, Inc | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US9138165B2 (en) | 2012-02-22 | 2015-09-22 | Veran Medical Technologies, Inc. | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US11830198B2 (en) | 2012-02-22 | 2023-11-28 | Veran Medical Technologies, Inc. | Systems, methods and devices for forming respiratory-gated point cloud for four dimensional soft tissue navigation |
US9972082B2 (en) | 2012-02-22 | 2018-05-15 | Veran Medical Technologies, Inc. | Steerable surgical catheter having biopsy devices and related systems and methods for four dimensional soft tissue navigation |
EP2866722A4 (fr) * | 2012-06-29 | 2016-11-02 | Childrens Nat Medical Ct | Procédures chirurgicales et interventionnelles automatisées |
US10675040B2 (en) | 2012-06-29 | 2020-06-09 | Children's National Medical Center | Automated surgical and interventional procedures |
US11806102B2 (en) | 2013-02-15 | 2023-11-07 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US11389255B2 (en) | 2013-02-15 | 2022-07-19 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US10105149B2 (en) | 2013-03-15 | 2018-10-23 | Board Of Regents Of The University Of Nebraska | On-board tool tracking system and methods of computer assisted surgery |
US10624701B2 (en) | 2014-04-23 | 2020-04-21 | Veran Medical Technologies, Inc. | Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter |
US11553968B2 (en) | 2014-04-23 | 2023-01-17 | Veran Medical Technologies, Inc. | Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter |
US10617324B2 (en) | 2014-04-23 | 2020-04-14 | Veran Medical Technologies, Inc | Apparatuses and methods for endobronchial navigation to and confirmation of the location of a target tissue and percutaneous interception of the target tissue |
US11314214B2 (en) | 2017-09-15 | 2022-04-26 | Kohler Co. | Geographic analysis of water conditions |
US11892811B2 (en) | 2017-09-15 | 2024-02-06 | Kohler Co. | Geographic analysis of water conditions |
US11921794B2 (en) | 2017-09-15 | 2024-03-05 | Kohler Co. | Feedback for water consuming appliance |
US11099540B2 (en) | 2017-09-15 | 2021-08-24 | Kohler Co. | User identity in household appliances |
US11314215B2 (en) | 2017-09-15 | 2022-04-26 | Kohler Co. | Apparatus controlling bathroom appliance lighting based on user identity |
US11949533B2 (en) | 2017-09-15 | 2024-04-02 | Kohler Co. | Sink device |
US10887125B2 (en) | 2017-09-15 | 2021-01-05 | Kohler Co. | Bathroom speaker |
US10448762B2 (en) | 2017-09-15 | 2019-10-22 | Kohler Co. | Mirror |
US10663938B2 (en) | 2017-09-15 | 2020-05-26 | Kohler Co. | Power operation of intelligent devices |
Also Published As
Publication number | Publication date |
---|---|
AU7468494A (en) | 1995-02-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO1995001757A1 (fr) | Systeme robotique d'examen rapproche et de traitement a distance d'organe mouvants | |
US7493154B2 (en) | Methods and apparatus for locating body vessels and occlusions in body vessels | |
US7976543B2 (en) | Electrosurgical methods and apparatus for making precise incisions in body vessels | |
RU2233626C2 (ru) | Способ и устройство для проведения минимально инвазивных операций на сердце | |
US7338434B1 (en) | Method and system for organ positioning and stabilization | |
Boehm et al. | Early experience with robotic technology for coronary artery surgery | |
US6832984B2 (en) | Minimally invasive surgery device | |
US8105235B2 (en) | Stabilizer for robotic beating-heart surgery | |
US20080082109A1 (en) | Robotic surgical system with forward-oriented field of view guide instrument navigation | |
GARCIA-RUIZ et al. | Robotic surgical instruments for dexterity enhancement in thoracoscopic coronary artery bypass graft | |
US20050014995A1 (en) | Direct, real-time imaging guidance of cardiac catheterization | |
EP3166524B1 (fr) | Cathéter d'ablation par radiofréquence d'artère pulmonaire synchrone multi-pôles | |
US20020029060A1 (en) | Surgical cutting instrument and method of use | |
US10349943B2 (en) | System for performing extraluminal coronary bypass and method of operation thereof | |
WO2007050941A1 (fr) | Système, appareil, et procédé d’imagerie et de traitement de tissu | |
JPH11512950A (ja) | インビボの血管バイパスを形成するためのカテーテル機器及び方法 | |
Suematsu et al. | Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: atrial septal defect closure in a swine model | |
RU2713981C2 (ru) | Устройство для внутрисердечной и внутрисосудистой хирургической процедуры, содержащее эндолюминальный ультразвуковой зонд | |
US20220096183A1 (en) | Haptic feedback for aligning robotic arms | |
CN203943721U (zh) | 一种体内组织直接修复与成形的医疗*** | |
US20220061941A1 (en) | Robotic collision boundary determination | |
Detter, H. Reichenspurner, DH Boehm, B. Reichart | Robotic manipulators in cardiac surgery: the computer-assisted surgical system ZEUS | |
US20200330150A1 (en) | Grasper tool with coagulation | |
JPH07184909A (ja) | 治療装置 | |
Guran et al. | Robotic Coronary Artery Bypass Grafting: History, Current Technique, and Future Perspectives |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AM AT AU BB BG BR BY CA CH CN CZ DE DK ES FI GB GE HU JP KE KG KP KR KZ LK LT LU LV MD MG MN MW NL NO NZ PL PT RO RU SD SE SI SK TJ TT UA US UZ VN |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): KE MW SD AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE BF BJ CF CG CI CM GA GN ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
122 | Ep: pct application non-entry in european phase | ||
REG | Reference to national code |
Ref country code: DE Ref legal event code: 8642 |
|
NENP | Non-entry into the national phase |
Ref country code: CA |